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Share-Based Compensation - Fair Value of Shares Vested and Weighted Average Estimated Fair Value of Shares Granted (Details) - Stock options - USD ($) $ / shares in Units, $ in Thousands | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total fair value of shares vested | $ 1,001 | $ 853
Weighted average estimated fair value of shares granted | $ 2.10 | $ 1.23

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- Definition Line items represent financial concepts included in a table. 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